# voxl2 mini build

Source: https://forum.modalai.com/topic/3022/voxl2-mini-build
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-01-17 16:20:40 UTC by tiralonghipol
Replies: 8 · Views: 2190

## tiralonghipol · 2024-01-17 16:20:40 UTC

hi,

after setting up the docker, updated the submodules and followed the guidelines as described [here](https://gitlab.com/voxl-public/rb5-flight/rb5-flight-px4-build-docker),
I build and flash the firmware on my voxl2 mini board
then I stop the voxl-px4 service and when I
voxl-px4 -d
I get the following error:

```
voxl2-mini:/$ voxl-px4 -d
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Disabling daemon mode

*************************
GPS=AUTODETECT
RC=CRSF_RAW
ESC=VOXL_ESC
POWER MANAGER=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=DISABLE
SENSOR_CAL=ACTUAL
EXTRA STEPS:
*************************

INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] SLPI: Creating pthread test_MUORB

INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
ERROR [muorb] SLPI: Hit maximum number of threads
ERROR [muorb] Test timed out waiting for response
px4: symbol lookup error: px4: undefined symbol: fc_sensor_get_time_offset

```

PX4 branch voxl-dev, commit 98e2c064459509
This is with everything default without touching any code except the px4.conf file 

Any idea?

## Reply by Eric Katzfey (ModalAI staff) · 2024-01-17 17:07:20 UTC

@tiralonghipol I would do `systemctl disable voxl-px4` then power cycle the board and then on next log in do `voxl-px4 -d`.

## Reply by tiralonghipol · 2024-01-17 17:19:48 UTC (in reply to Eric Katzfey)

@Eric-Katzfey 
I thought about it as well, it does not seem to have an effect

anything else I could try? I am scanning the commits to see if this symbol was introduced as some point

## Reply by Eric Katzfey (ModalAI staff) · 2024-01-17 17:22:34 UTC (in reply to tiralonghipol)

@tiralonghipol Oh, sorry, didn't scroll down and see that message. Latest dev is incompatible with SDK 1.1.2. You need updated libfc-sensor installed (Can be found here: http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/libfc-sensor_1.0.5_arm64.deb) and ideally latest modalai-slpi installed as well (Can be found here: http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/modalai-slpi_1.1.12_arm64.deb). These will all be together in the next SDK release.

## Reply by tiralonghipol · 2024-01-17 17:33:14 UTC (in reply to Eric Katzfey)

@Eric-Katzfey 

you are the best! that worked! hurra!

for anyone bumping into the same issue:

adb shell into voxl2 mini

wget http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/modalai-slpi_1.1.12_arm64.deb
dpkg -i modalai-slpi_1.1.12_arm64.deb

wget http://voxl-packages.modalai.com/dists/qrb5165/staging/binary-arm64/libfc-sensor_1.0.5_arm64.deb
dpkg -i libfc-sensor_1.0.5_arm64.deb

into the docker:
./clean.sh
./build.sh

into voxl-px4/px4-firmware/
/boards/modalai/voxl2/scripts/install-voxl.sh

tadaaa

## Reply by tiralonghipol · 2024-02-22 05:50:25 UTC (in reply to tiralonghipol)

@Eric-Katzfey 

hei Eric! I thought you would like to see some results ([LINK HERE](https://www.youtube.com/watch?v=SEMFPfgODIo)). voxl2 mini + 4in1 mini esc, amazing products!
we submitted to ICUAS2024, more details in case the paper gets accepted

## Reply by Eric Katzfey (ModalAI staff) · 2024-02-22 16:25:58 UTC (in reply to tiralonghipol)

@tiralonghipol Hey, that's really cool! Thanks for sharing!

## Reply by tom (ModalAI staff) · 2024-02-22 18:02:02 UTC (in reply to tiralonghipol)

@tiralonghipol This is awesome, great work!

## Reply by tiralonghipol · 2024-02-22 21:16:25 UTC (in reply to tom)

@tom @Eric-Katzfey 
Thank you guys!! More to come eheh